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Here is the OBD2 emission system drive cycle test procedure.
Engine coolant temp must be below 70c (158f) before starting the engine for either the first or second tripThe fuel level should be less than 1/2 fullFirst trip:Start engine, idle for at least 1.5 minutesDrive 3 minutes, hold b/f schdl: 1.5-2.0 msec, selector lever "3rd" eng rpm 1,800-2,000 A/C switch:ON Hold the recommended b/f schdl range. Allow road speed to vary as necessary.Drive at 55-65 mph for 1.5 min b/f schdl 2.0-3.2 msec, selector lever "5th" Engine rpm 2,200-3,000IGN "off" for at least 10 seconds (not more than 5 min) Dive at 50-60 mph for 3 minutes Selector lever "4th" keep engine speed above 3,000 rpm Allow speed to vary if necessary. Do not decelerate for more than 3 consecutive seconds. A/C switch ON. Drive at a steady state cruise of 53-58mhp b/f schdl more than 1.8 msec selector lever "5th" eng rpm 2,400-2,600Downshift to "4th" and decel more than 5 seconds without breaking, then idle for 1 minute.Drive two minutes b/f schdl less than 2.0 msec Accelerate to 41 mph, decelerate to 34 mph, accelerate to 41mph. Do not completely release the accelerator. A/C switch off.Idle 1 minute in park or neutralDrive two minutes Steady state cruise at 31-44 mph. Selector lever "4th" A/C switch OFF. Hold the accelerator pedal as steady as possible. Allow speed to change if necessary.End of first trip. Turn the key off the begin the second trip.Second trip:Start engine, idle for at least 1.5 minutesDrive 3 minutes, hold b/f schdl: 1.5-2.0 msec, selector lever "3rd" eng rpm 1,800-2,000 A/C switch:ON Hold the recommended b/f schdl range. Allow road speed to vary as necessary.Drive at 55-65 mph for 1.5 min b/f schdl 2.0-3.2 msec, selector lever "5th" Engine rpm 2,200-3,000IGN "off" add four gallons of fuel Dive at 50-60 mph for 3 minutes Selector lever "4th" keep engine speed above 3,000 rpm Allow speed to vary if necessary. Do not decelerate for more than 3 consecutive seconds. A/C switch ON. Drive at a steady state cruise of 53-58mhp b/f schdl more than 1.8 msec selector lever "5th" eng rpm 2,400-2,600Downshift to "4th" and decel more than 5 seconds without breaking, then idle for 1 minute.Drive two minutes b/f schdl less than 2.0 msec Accelerate to 41 mph, decelerate to 34 mph, accelerate to 41mph. Do not completely release the accelerator. A/C switch off.Idle 1 minute in park or neutralDrive two minutes Steady state cruise at 31-44 mph. Selector lever "4th" A/C switch OFF. Hold the accelerator pedal as steady as possible. Allow speed to change if necessary.
I especially like the part where they want you to add four gallons of fuel. Not three gallons, not five gallons, four gallons. Gotta love those Nissan engineers. ...and of course they state that if the trace is not followed exactly (i.e. you botch the acceleration/deceleration) you have to start all over again from scratch

The following drive cycle can be used as a guide to assist with re-setting monitors when a vehicle specific drive cycle cannot be located. This OBDII drive cycle begins with a cold start (coolant temperature below 122 degrees F and the coolant and air temperature sensors within 11 degrees of one another). This condition can be achieved by allowing the vehicle to "sit" overnight, and then by beginning the drive cycle the next day. Most drive cycles will be difficult to follow exactly under normal driving conditions, so the driver should exercise caution, road safety, and courtesy to others.

. Start the engine. Idle the engine in drive for two and a half minutes with the A/C and rear defroster on.

Turn the A/C and rear defrost off, and accelerate to 55 mph at half throttle.

Hold at a steady speed of 55 mph for three minutes.

Decelerate (coast down) to 20 mph without braking or depressing the clutch.

takes a long time to run the rediness test since there are 6 different tests to complete...

PROCEDURE 1EVAPORATIVE EMISSION SYSTEM LEAK MONITORInspection ConditionsEngine coolant temperature: 30°C (75°F) or less (The engine is stopped before the test drive is started).Atmospheric temperature: 5 - 30°C (41 - 113°F).Condition of A/T: Selector lever D range.Fuel remained in fuel tank: 30 - 50% is recommended.Time required: 16 minutes or less after started the engine.Drive cycle pattern: One trip monitor (from start to ignition switch to "LOCK" (OFF) position. Well be completed while traveling with the following drive cycle pattern.Test ProcedureEngine: start.Accelerate until the vehicle speed is 89 km/h (55 mph) or more.While keeping the accelerator pedal opening degree constant, keep the vehicle speed at 89 km/h (55 mph) or more and travel for 16 minutes.Return the vehicle to the shop, then turn the ignition switch to "LOCK" (OFF) position.

PROCEDURE 3CATALYTIC CONVERTER MONITORDrive Cycle PatternInspection ConditionsAtmospheric temperature: -10°C (14°F) or more.Condition of A/T: Selector lever D range.Engine coolant temperature: Not set.Time required: 16 minutes or more.Drive cycle pattern: One trip monitor (from start to ignition switch to "LOCK" (OFF) position). Will be completed while traveling with the following drive cycle pattern.Test ProcedureEngine: start.Accelerate until the vehicle speed is 89 km/h (55 mph) or more.Travel for 300 seconds or more while keeping the vehicle speed at 89 km/h (55 mph) or more.Decelerate until the vehicle speed is within 80 km/h (50 mph) or less.While traveling at 56 - 80 km/h (35 - 50 mph) for 10 minutes or more, fully close the throttle at least once in 2 minutes and decelerate for 10 seconds or more.Do not repeat deceleration too often.Vehicle speed may go below 56 km/h (35 mph) after the deceleration.Stopping and braking are permitted. (If stopped or drive at 56 km/h (35 mph) or less for more than 5 minutes the monitoring may be stopped. In this case please restart monitoring from the beginning.)After completing the above deceleration, bring the vehicle speed back to 56 - 80 km/h (35 - 50 mph) and keep it in the range until starting the deceleration again.Repeat the above deceleration at least 5 times.Return the vehicle to the shop, then turn the ignition switch to "LOCK" (OFF) position

Generic OBD II "Drive Cycle"
Most OBD II ("On-Board Diagnostics II") diagnostic monitors will run at some time during normal operation of the vehicle.However, to satisy all of the different Trip enable criteria and run all of the OBD II diagnostic monitors, the vehicle must be driven under a variety of conditions. The following drive cycle will (theoretically) allow all monitors to run on (??) vehicle. (Note: Drive cycle specifics vary by vehicle!)

Ensure that the fuel tank is between 1/4 and 3/4 full.

Start cold (below 86°F /30°C) and warm up until engine coolant temperature is at least 160° F (typically requires at least one minute; up to 3 minutes).

Accelerate to 40-55 MPH at 25% throttle and maintain speed for five minutes.

Decelerate without using the brake (coast down) to 20 MPH or less, then stop the vehicle. Allow the engine to idle for 10 seconds, turn the key off, and wait one minute.

Restart and accelerate to 40-55 MPH at 25% throttle and maintain speed for two minutes.

Decelerate with using the brake [or the clutch!] by coasting down to 20 MPH or less, then stop the vehicle. Allow the engine to idle for 10 seconds, turn the key off, and wait one minute.

I can’t be much help on this one (too new for my experience), but your manual will say this (which probably isn’t all that helpful either).The vehicle stability assist (VSA) system helps to stabilize the vehicle during cornering if the vehicle turns more or less than desired. It also assists you in maintaining traction while accelerating on loose or slippery road surfaces. It does this by regulating the engine’s output and by selectively applying the brakes.When VSA activates, you may notice that the engine does not respond to the accelerator in the same way it does at other times. There may also be some noise from the VSA hydraulic system. You will also see the VSA activation indicator blink.The VSA system cannot enhance the vehicle’s driving stability in all situations and does not control your vehicle’s entire braking system. It is still your responsibility to drive and corner at reasonable speeds and to leave a sufficient margin of safety.On touring models you will also see a ‘‘CHECK VSA SYSTEM’’ message on the multiinformation display if there is a problem with the VSA system.Without VSA, your vehicle still has normal braking and cornering ability, but it does not have VSA traction and stability enhancement.The VSA system automatically turns on every time you start the engine, even if you turned it off the last time you drove the vehicle.I’d get on the Honda people about the problem, especially since you just got the car. I would think that the alarming sounds you are hearing have to do with the unit working the brakes when it shouldn't be, but that's a guess.Hope this helps some.

It may be as simple as your oil condition or oil level. If you have poor oil in your engine the VTEC system will not operate properly and when RPMs reach 2800 or so it will buck. If everything checks okay with the oil have the code checked for your check engine light/VSA light.

low speed shakes indicates a wheel alignment problem
have the suspension and wheel bearings checked out by an accredited suspension shop
under acceleration it could be engine mounts cracked in the rubber being actuated by misfiring form a cylinder
run the fault codes as well

had the same problem it was the u joints....if you get a vibration at higher speeds that will also be an indicater...on the 2005 exterras you have to replace the whole drive cshaft fortunatly min was under drive train warranty.